Design and research of a three-fingered flexible cabledriven robotic hand

Abstract Underactuated robotic hands are low-cost, highly adaptive, and less damaging to objects during grasping. This paper proposes designing a flexible underactuated robotic hand based on tendon-driven mechanisms to enhance grasping stability. It establishes a D-H parameter model for single-finger kinematic analysis, simulates the workspace using MATLAB, combines inverse kinematic analysis with ADAMS for dynamic grasping simulation, and finally validates the hand’s feasibility through grasping-force analysis.